新型360°可识别圆柱形标记，提升机器人定位精度与鲁棒性。
PuzzlePoles: Cylindrical Fiducial Markers Based on the PuzzleBoard Pattern
- 基于PuzzleBoard图案设计的圆柱形标记，支持全方位视角识别。
- 在遮挡情况下仍保持高精度定位与姿态估计，适用于复杂场景。
- 适合机器人导航、SLAM及触控交互等多样化自主系统应用。
环境感知是自主系统的关键支撑，校准与定位任务通常依赖于可靠的视觉标记。本文提出PuzzlePole，一种基于近期提出的PuzzleBoard校准图案的新式位标。PuzzlePole为圆柱形标记，支持从360°视角进行可靠识别与姿态估计。通过利用PuzzleBoard图案独特的组合结构，PuzzlePoles在定位与朝向估计中实现高精度，同时对遮挡具有强鲁棒性。该设计具备部署灵活性，适用于机器人导航、SLAM到实体交互等多种自主系统场景。
原文摘要 · Abstract (English)
Reliable perception of the environment is a key enabler for autonomous systems, where calibration and localization tasks often rely on robust visual markers. We introduce the PuzzlePole, a new type of fiducial markers derived from the recently proposed PuzzleBoard calibration pattern. The PuzzlePole is a cylindrical marker, enabling reliable recognition and pose estimation from 360° viewing direction. By leveraging the unique combinatorial structure of the PuzzleBoard pattern, PuzzlePoles provide a high accuracy in localization and orientation while being robust to occlusions. The design offers flexibility for deployment in diverse autonomous systems scenarios, ranging from robot navigation and SLAM to tangible interfaces.
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